Page 135 - RoboCilindri, RCP2-RCP3, robocilindri, sinta,

Selection Guide (Gripping Force)Selection Guide (Gripping Force)RCP2 SeriesGripper Lever TypeStep 1Step 2Step 3Step 1Check necessary gripping force and transportable work part weightCheck moment of inertia of the finger attachment (claw)Check external force applied to the fingerCheck the necessary gripping force and transportable work part weightF/2F/2 FrictionLike Step 1 of Slide type, calculate the necessary gripping force and confirm that the gripping force meets conditions. Calculate it referring to “Paragraph 5.3 Adjustment of Gripping Force”, effective gripping force by gripping point.W (mg)Normal work transportationNecessary gripping force 10 to 20 times the work part weight or moreTransportable work part weight One-tenth to one-twentieth or less of gripping forceWhen remarkable acceleration, deceleration and/or impact occurNecessary gripping force 30 to 50 times the work part weight or moreTransportable work part weight One-thirtieth to one-fiftieth or less of gripping forceStep 2Checking moment of inertia of the finger attachment (claw)Confirm that all moments of inertia around the Z axis (fulcrum) of the finger attachment (claw) fall within an allowable area. Depending on the configuration and/or shape of the finger, divide it into several elements when calculating. For your reference, an example of calculation by dividing into two elements is shown below.FrictionF/3W (mg)F/3F/3Z (fulcrum)R2 R1a1c1(2) Moment of inertia around the Z2 axis (the center of gravity of B) (section B)IZ2 [kg.m2] = m2 ( a12 + b12) x 10-6 12(1) Moment of inertia around Z1 axis (the center of gravity of A) (section A)m1 : Weight of A [Kg]a, b, c : Dimension of Section A [mm]m1 [Kg] = a1 x b1 x c1 x specific gravity x 10−6Z222 m1 ( a1 + b1 )c2Section BZ1 a2IZ1 [kg.m2] = 12 x 10-6b2b1Section AZ: FulcrumAppendix: - 77 Technical Reference/Information